version: 66.13
glider: 401
mission: 22
dive: 1641
start: 8 24 117 20 19 34
data:
$ID,401
$MISSION,22
$DIVE,1641
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,240817,193927,6110.0088,-17353.0234,5,0.9,20,7.0,0.3,67.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-4.2
$GPS2,240817,193927,6110.0088,-17353.0234,5,0.9,20,7.0,0.3,67.0,9,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,158.3,11582,-11.5,-10.526,-14.94,6951
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2378,1953,2384,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,4097,0.021,0.000,1823,1954,2384,2384,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.32,52.44
$GC,23,-1.78,-487.5,1822,1954,2384,4094,0.0,0.0,1,35,0.28,0.00,-6.28,0.000,20486,0.038,0.000,1785,1954,3055,3055,4094,0,0,0,0,0,0,26.12,25.48,26.13,10.33,52.04
$GC,69,-1.78,-487.5,1784,1954,3055,4094,1.7,-6.3,8,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1954,3056,3056,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.47,52.24
$GC,109,-1.78,-487.5,1784,1954,3057,4095,7.5,-15.1,14,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1954,3057,3057,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.47,52.04
$GC,149,-1.78,-487.5,1784,1954,3057,4095,13.9,-16.4,20,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1954,3058,3058,4094,0,0,0,0,0,0,26.36,26.36,26.37,10.47,52.48
$GC,188,-1.78,-487.5,1784,1954,3059,4094,20.4,-16.3,26,195,0.00,1.10,0.00,0.000,516,0.000,0.050,1785,1516,3059,3059,4094,0,0,0,0,0,0,26.39,26.00,26.39,10.47,52.08
$GC,265,-1.78,-487.5,1784,1516,3061,4094,31.7,-13.9,38,271,0.00,1.02,0.00,0.000,1030,0.000,0.027,1785,1953,3062,3062,4095,0,0,0,0,0,0,26.19,26.16,26.21,10.44,51.53
$GC,305,-1.78,-487.5,1784,1953,3062,4095,36.9,-12.4,44,312,0.00,1.10,0.00,0.000,260,0.000,0.046,1785,2372,3062,3062,4095,0,0,0,0,0,0,26.46,26.07,26.47,10.42,51.02
$GC,381,-1.78,-487.5,1784,2372,3064,4095,46.5,-12.6,56,388,0.00,1.02,0.00,0.000,1030,0.000,0.029,1785,1966,3064,3064,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.39,49.60
$GC,422,-1.78,-487.5,1784,1965,3065,4095,51.9,-13.2,62,429,0.00,1.15,0.00,0.000,516,0.000,0.051,1785,1513,3065,3065,4095,0,0,0,0,0,0,26.51,26.11,26.53,10.39,49.44
$GC,486,-1.78,-487.5,1784,1513,3067,4095,60.0,-12.5,72,493,0.00,1.02,0.00,0.000,1030,0.000,0.026,1785,1954,3067,3067,4095,0,0,0,0,0,0,26.30,26.27,26.31,10.38,48.81
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,508,-0.45,0.0,1784,2135,3067,4095,61.9,-12.2,74,544,4.30,0.00,28.17,1.344,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.17,25.31,24.26,10.38,48.66
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,550,1.78,487.5,2184,2135,2484,4094,64.8,0.0,80,592,7.53,0.00,27.73,1.299,11270,0.031,0.000,2892,2135,1916,1916,4095,0,0,0,0,0,0,25.58,25.75,23.87,10.25,48.26
$GC,626,1.78,487.5,2891,2135,1915,4095,58.2,12.9,92,633,0.00,1.15,0.00,0.000,516,0.000,0.046,2892,1709,1915,1915,4094,0,0,0,0,0,0,25.54,25.25,25.56,10.12,47.08
$GC,733,1.78,487.5,2892,1709,1911,4094,43.6,13.4,109,739,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2122,1912,1912,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.12,47.55
$GC,773,1.78,487.5,2892,2122,1911,4094,38.1,13.3,115,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1911,1911,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.12,48.14
$GC,813,1.78,487.5,2891,2122,1909,4094,32.8,13.0,121,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1909,1909,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,48.03
$GC,853,1.78,487.5,2892,2122,1908,4094,27.8,12.7,127,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,48.38
$GC,892,1.78,487.5,2892,2122,1907,4094,23.0,11.8,133,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1907,1907,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.15,49.29
$GC,932,1.78,487.5,2892,2121,1906,4094,18.4,11.3,139,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1906,1906,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,50.98
$GC,971,1.78,487.5,2891,2122,1905,4094,14.0,11.6,145,978,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1706,1905,1905,4095,0,0,0,0,0,0,26.28,25.89,26.28,10.18,51.37
$GC,1066,1.78,487.5,2892,1706,1902,4095,2.9,12.0,160,1073,0.00,1.05,0.00,0.000,1030,0.000,0.028,2892,2137,1901,1901,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.19,52.52
$STATE,1077,end climb,SURFACE_DEPTH_REACHED
$STATE,1077,begin surface coast
$FINISH,0.1,1.003338
$STATE,1091,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1195,0.00,0.000,0,0,1901,501.42
$SM_GC,0.84,27.70,0.50,0.00,0.021,0.040,0.000,237,1941,1901,-6.55,1.00,501.42,0,0,0,0,0,0,26.15,26.08,26.19
$IRIDIUM_FIX,6149.06,-17422.35,240817,182342
$TT8_MAMPS,0.024717,0.104111
$HUMID,53.18
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.87,46.619
$10V_AH,10.38,45.746
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,45.475,12.200,55.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.464,319.202,162.852,238.113,106.297,0.000,340.380,0.000,246.916,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,51.255,1344.105,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10766,164
$CAP_FILE_SIZE,30293,0
$CFSIZE,1024409600,938852352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,204030,6109.768,-17351.969,9,0.8,20,7.0,0.0,68.7,10,5.0